Implementation of Dual-Arm Cooperative Controll by Exploiting Actuator Back-drivability

This paper presents hybrid position/force control for dualarm cooperation without using any force/torque sensor. The control uses only motor current as force/torque information and exploits motor back-drivability. A key technique in this control is compensation of friction at the motors, for which this paper presents a new method named dithered measurement. Experiments in the paper show that this method works well in order to implement dependable force control.